PxVehicleRigidBodyStates.h

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#pragma once
 
#include "foundation/PxTransform.h"
#include "foundation/PxVec3.h"
#include "vehicle2/PxVehicleParams.h"
 
#if !PX_DOXYGEN
namespace physx
{
namespace vehicle2
{
#endif
 
struct PxVehicleRigidBodyState
{
    PxTransform pose;               
    PxVec3 linearVelocity;          
    PxVec3 angularVelocity;         
    PxVec3 previousLinearVelocity;  
    PxVec3 previousAngularVelocity; 
    PxVec3 externalForce;           
    PxVec3 externalTorque;          
 
    PX_FORCE_INLINE void setToDefault()
    {
        pose = PxTransform(PxIdentity);
        linearVelocity = PxVec3(PxZero);
        angularVelocity = PxVec3(PxZero);
        externalForce = PxVec3(PxZero);
        externalTorque = PxVec3(PxZero);
    }
 
    PX_FORCE_INLINE PxReal getVerticalSpeed(const PxVehicleFrame& frame) const
    {
        return linearVelocity.dot(pose.q.rotate(frame.getVrtAxis()));
    }
 
    PX_FORCE_INLINE PxReal getLateralSpeed(const PxVehicleFrame& frame) const
    {
        return linearVelocity.dot(pose.q.rotate(frame.getLatAxis()));
    }
 
    PX_FORCE_INLINE PxReal getLongitudinalSpeed(const PxVehicleFrame& frame) const
    {
        return linearVelocity.dot(pose.q.rotate(frame.getLngAxis()));
    }
};
 
#if !PX_DOXYGEN
} // namespace vehicle2
} // namespace physx
#endif